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Rotary Pendulum Model

Source Notebook

Model of a rotary pendulum

Examples

Basic Examples (2) 

Retrieve the model:

In[1]:=
ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\)]
Out[1]=

The icon:

In[2]:=
ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\), "Icon"]
Out[2]=

Scope & Additional Elements (4) 

Available content elements:

In[3]:=
\!\(\* TagBox[ RowBox[{"ResourceObject", "[", "\"\<Rotary Pendulum Model\>\"", "]"}], #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\)["ContentElements"]
Out[3]=

The available model types:

In[4]:=
ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\), "AvailableModelTypes"]
Out[4]=

The operating point:

In[5]:=
ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\), "OperatingPoint"]
Out[5]=

The parameters:

In[6]:=
ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\), "Parameters"]
Out[6]=

Analysis (3) 

The numerical model:

In[7]:=
assm = ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\)] /. ResourceData[\!\(\* TagBox["\"\<Rotary Pendulum Model\>\"", #& , BoxID -> "ResourceTag-Rotary Pendulum Model-Input", AutoDelete->True]\), "Parameters"]
Out[7]=

Responses starting from the upright and downright positions:

In[8]:=
or = Table[ OutputResponse[{assm, {0, 0, \[Alpha]0, 0}}, -UnitBox[t - 0.5], {t, 0, 10}][[2]], {\[Alpha]0, {0, \[Pi]}}]
Out[8]=

Both responses settle in the stable downward position:

In[9]:=
Grid[{Table[ Plot[or[[i]], {t, 0, 10}, PlotRange -> All, AxesOrigin -> {0, 0}], {i, 2}]}, Spacings -> 2]
Out[9]=

Suba Thomas, "Rotary Pendulum Model" from the Wolfram Data Repository (2025)  

Data Resource History

  • Date Created:

Source Metadata

  • Citation:
    • I. Chawla and A. Singla, "Real-Time Stabilization Control of a Rotary Inverted Pendulum Using LQR-Based Sliding Mode Controller", King Fahd University of Petroleum & Minerals, published online Jan. 3, 2021.

Publisher Information

  • Prepared for the Wolfram Data Repository By: Maher Kuzbari, Suba Thomas
  • Publisher of Record: Suba Thomas